Servo motor positioning method and servo positioning device

Abstract

The invention discloses a servo motor positioning method and a servo positioning device. The servo motor positioning method comprises the following steps that a servo driver determines a current moving track of a servo motor according to a first motion control parameter sent by an upper computer; in each control period of the acceleration stage, a position control instruction pcmd is generated as pcmd = p 'cmd + delta pacc; in each control period of the constant speed stage, a position control instruction pcmd is generated, wherein pcmd is equal to pV max; in each control period of the deceleration stage, a position control instruction pcmd is generated as follows: pcmd = p 'cmd-delta pdec; when pcmd is smaller than or equal to delta pdec, a position control instruction pcmd is generated, wherein pcmd is equal to delta pdec; and driving the servo motor to work by adopting a correspondingly generated position control instruction according to the stage of the current moving track of the servo motor. An upper computer directly sends a first motion control parameter to a servo driver through a communication interface, and the servo driver generates a position control instruction and sends a voltage signal to a servo motor to drive the servo motor to work.

Description

technical field [0001] The invention relates to the field of servo drives, in particular to a servo motor positioning method and a servo positioning device. Background technique [0002] Servo drives are widely used in the field of industrial control, and each motion axis of the equipment on the production line is generally controlled sequentially. [0003] In the prior art, the controller converts the position and speed information of each motor shaft into pulse signals and transmits them to each servo driver. The servo driver controls the servo motor to operate according to the number and frequency of received pulses, thereby realizing positioning control. In equipment that requires high-speed operation, due to the high pulse frequency, it is easy to be subject to external electromagnetic interference, which affects the number of received pulses and thus affects the positioning accuracy. [0004] Moreover, each signal between the servo driver and the controller needs to b...

AI Technical Summary

Problems solved by technology

In equipment that requires high-speed operation, due to the high pulse frequency, it is susceptible to external electromagnetic interference, which affects the number of received pulses, thereby affecting the positioning accuracy

[0004] Moreover, each signal between the servo driver and the controller needs to be connected and transmitted by an independent signal line. In the equipment with a large number of servo axes, there will be problems of confusing wiring and inconvenient equipment maintenance.

In addition, it will occupy more I / O ports and pulse input / output ports of the controller, which will increase the hardware cost, and the controller programming is relatively complicated.

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